Fix deserialization error #258
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syncing master of original repo
set height and width before setPointCloud2Fields() call such that this function call sets row_step correctly
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Related to Issue #251 / the commit addressing it, the
row_stepfield (Length of a row in bytes) is currently still set as if the point cloud was unorganized (point_step * width * heightinstead ofpoint_step * width), which led to a deserialization error in my subscriber.Since the
PointCloud2Modifier::setPointCloud2Fields()function sets therow_stepfield correctly ifheightandwidthare set correctly, and also callscloud_msg_.data.resize(cloud_msg_.height * cloud_msg_.row_step);in the end, the additionalPointCloud2Modifier::resize()call is not required.Tested this on my end and it worked.